Universal truss mechanical gripper

Abstract

A general truss mechanical claw, comprising a pair of support columns, a gear and rack sliding table module, a Z-axis control cylinder, an X-axis control cylinder and a pair of pneumatic clamping claws, the pair of support columns are connected through a cross beam, a sliding table bottom plate is connected between the top of the pair of support columns, the gear and rack sliding table module is installed on the sliding table bottom plate, the Z-axis control cylinder is installed on the sliding block of the gear and rack sliding table module through a transverse support frame, and air blowing heads are arranged on the cylinder bodies of the pair of pneumatic clamping claws. The utility model has the advantages that the cooperation of the gear and rack sliding table module, the X-axis guide sliding table and the Z-axis guide sliding table can greatly improve the moving precision of the truss and the mechanical claw, the air blowing heads integrated on the pneumatic clamping claws realize continuous air blowing and clamping actions, the time consumption is shortened, and the production process is optimized.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, specifically to a general-purpose gantry robot claw. Background Technology

[0002] As the core support structure of automated machining production lines, the truss serves as the motion reference platform and load-bearing body for pneumatic actuators (including cylinders, grippers, and other end effectors). In existing production lines, the truss uses ordinary guide rails (not high-precision guide rails) to provide motion guidance for the pneumatic grippers. These guide rails have low rigidity and slight clearances, resulting in a decrease in repeatability accuracy of approximately ±0.2mm. In metal machining processes, the production line needs to add an air blowing station, extending the process time by 2-3 seconds per piece. The air blowing angle is fixed, resulting in a residual chip rate of >15% at the edges and corners, and a messy air pipeline. Utility Model Content

[0003] The purpose of this utility model is to address the above-mentioned shortcomings by providing a universal truss mechanical gripper.

[0004] This utility model includes a pair of support columns, a gear and rack slide module, a Z-axis control cylinder, an X-axis control cylinder, and a pair of pneumatic grippers. The pair of support columns are connected by a crossbeam, and a slide base plate is connected between the tops of the pair of support columns. The gear and rack slide module is mounted on the slide base plate. The Z-axis control cylinder is mounted on the slider of the gear and rack slide module via a transverse support frame. The Z-axis control cylinder is equipped with a Z-axis guide slide. The X-axis control cylinder is mounted on the piston rod of the Z-axis control cylinder via a connecting block. The X-axis control cylinder is equipped with an X-axis guide slide. The pair of pneumatic grippers are mounted on the X-axis control cylinder via the X-axis guide slide. Each of the cylinder bodies of the pair of pneumatic grippers is equipped with an air blowing head.

[0005] The gear and rack slide module includes a pair of slide rails, a rack, and a drive motor. The pair of slide rails and the rack are mounted in parallel on the slide base plate. The rack is located between the pair of slide rails. The output shaft of the drive motor is equipped with a drive gear that meshes with the rack. The drive motor is mounted on the slider of the pair of slide rails through a motor mounting bracket. One end of the transverse support frame is fixed to the motor mounting bracket.

[0006] The slide base plate has hard limit blocks at both ends that cooperate with the motor mounting base.

[0007] A counterweight is provided on the motor mounting base on the side opposite to the transverse support frame.

[0008] An electrical control cabinet is provided on one side of the motor mounting base, and a drag chain groove is provided on one side of the slide base plate. A drag chain for bundling circuit lines is provided in the drag chain groove.

[0009] The slider of the Z-axis guide slide is equipped with a slider bracket at one end that is connected to the connecting block.

[0010] Each pair of pneumatic grippers has an air-blowing base plate on its cylinder, and the air-blowing head can be rotated and adjusted to be mounted on the air-blowing base plate.

[0011] The inner side of the pneumatic gripper's claw is detachably connected to a wear-resistant plate.

[0012] The advantages of this utility model are: the combination of the gear and rack slide module, the X-axis guide slide and the Z-axis guide slide can greatly improve the movement accuracy of the gantry and the mechanical claw; the air blowing head integrated on the pneumatic gripper can shorten the time of continuous blowing and gripping actions and optimize the production process. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model.

[0014] Figure 2 yes Figure 1 A partially enlarged structural diagram.

[0015] Figure 3 This is a schematic diagram of the gear and rack slide module structure.

[0016] Figure 4 This is a schematic diagram of a pneumatic gripper structure. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of the embodiments of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, if terms such as "first" or "second" appear in the description of this invention, they are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0022] As shown in the figure, this utility model includes a pair of support columns 1, a gear and rack slide module 2, a Z-axis control cylinder 4, an X-axis control cylinder 5, and a pair of pneumatic grippers 6. The pair of support columns 1 are connected by a crossbeam 8, and a slide base plate 9 is connected between the tops of the pair of support columns 1. The gear and rack slide module 2 is mounted on the slide base plate 9. The Z-axis control cylinder 4 is mounted on the slider of the gear and rack slide module 2 via a transverse support frame 11. The Z-axis control cylinder 4 is provided with a Z-axis guide slide 12. The X-axis control cylinder 5 is mounted on the piston rod of the Z-axis control cylinder 4 via a connecting block 10. The X-axis control cylinder 5 is provided with an X-axis guide slide 13. The pair of pneumatic grippers 6 are mounted on the X-axis control cylinder 5 via the X-axis guide slide 13. Each of the cylinder bodies of the pair of pneumatic grippers 6 is provided with an air blowing head 3.

[0023] The support column 1 is screwed to the ground, and the crossbeam 8 is welded to the support column 1. The slide base plate 9 is connected to the support column 1 via a set of screws. The gear and rack slide module 2 is detachably installed on the slide base plate 9 via screws. The gear and rack slide module 2 is used to control the movement of the mechanical gripper in the Y-axis direction. The X-axis control cylinder 5 is used to control the movement of the mechanical gripper in the X-axis direction, and the Z-axis control cylinder 4 is used to control the movement of the mechanical gripper in the Z-axis direction. The Z-axis guide slide 12 and the X-axis guide slide 13 are used to control the stability of the movement of the corresponding cylinders, thereby improving the movement accuracy. The air blowing head 3 is integrated into the pneumatic gripper 6. The air blowing head 3 shares an air source with the above-mentioned cylinders. When the pneumatic gripper 6 moves above the workpiece, the air blowing head 3 first blows the surface of the workpiece before gripping it. This blowing during the movement reduces the residual debris rate at the edges and corners. Then, the pneumatic gripper 6 grips the workpiece and moves it to the designated position, optimizing the process and improving work efficiency.

[0024] Preferably, the gear and rack slide module 2 includes a pair of slide rails 15, a rack 16 and a drive motor 17. The pair of slide rails 15 and the rack 16 are mounted in parallel on the slide base plate 9. The rack 16 is located between the pair of slide rails 15. The output shaft of the drive motor 17 is provided with a drive gear that meshes with the rack 16. The drive motor 17 is mounted on the slider of the pair of slide rails 15 through a motor mounting base 18. One end of the transverse support frame 11 is fixed to the motor mounting base 18.

[0025] Each slide rail 15 is equipped with two sliders. The motor mounting base 18 is connected to the sliders by a screw, ensuring smooth movement and high precision. Through a combination of gear and rack and pneumatic hybrid drive, the hardware cost can be reduced by 40% compared to a full servo solution while achieving a positioning accuracy of ±0.1mm, thus achieving both high precision and cost advantages.

[0026] Furthermore, the slide base plate 9 is provided with hard limit blocks 20 at both ends, which cooperate with the motor mounting base 18. The hard limit blocks 20 are used to limit the extreme positions of the movement of the gear rack slide module 2.

[0027] Meanwhile, induction switches can be provided at both ends of the slide base plate 9, and induction blocks that cooperate with the induction switches are provided at the bottom of the motor mounting base 18. The induction switches control the start and stop of the drive motor 17 to limit the gear and rack slide module 2.

[0028] Furthermore, a counterweight 22 is provided on the motor mounting base 18 on the side opposite to the transverse support frame 11. The motor mounting base 18 is provided with a counterweight mounting plate. The counterweight 22 is composed of multiple metal plates connected in series by screws and fixed to the counterweight mounting plate by screws. The counterweight 22 is used to balance the weight of the various components installed on the transverse support frame 11, so that the weight on both sides of the motor mounting base 18 is balanced, thereby improving the accuracy of movement.

[0029] Furthermore, an electrical control cabinet 24 is provided on one side of the motor mounting base 18, and a drag chain groove 23 is provided on one side of the slide base plate 9. A drag chain 25 for bundling circuit lines is provided in the drag chain groove 23.

[0030] Each solenoid valve of the pneumatic control component is integrated on the motor mounting base 18 to achieve follow-up movement.

[0031] Furthermore, the slider of the Z-axis guide slide 12 is provided with a slider bracket 26, one end of which is connected to the connecting block 10.

[0032] Furthermore, each of the cylinders of a pair of pneumatic grippers 6 is provided with an air blowing base plate 28, and the air blowing head 3 is rotatably and adjustablely mounted on the air blowing base plate 28.

[0033] The air blowing base plate 28 is provided with an air blowing head mounting hole. The air blowing head 3 is rotatably mounted in the hole by means of a pin. One end of the pin is screwed with a locking sleeve to fix the angle of the air blowing head 3.

[0034] Furthermore, a wear-resistant plate 30 is detachably connected to the inner side of the claw of the pneumatic gripper 6. The wear-resistant plate 30 is fixed to the inner side of the claw of the pneumatic gripper 6 by a pair of screws, and can be quickly replaced after wear.

Claims

1. A universal truss mechanical gripper, characterized in that... It includes a pair of support columns (1), a gear and rack slide module (2), a Z-axis control cylinder (4), an X-axis control cylinder (5), and a pair of pneumatic grippers (6). The pair of support columns (1) are connected by a crossbeam (8). A slide base plate (9) is connected between the tops of the pair of support columns (1). The gear and rack slide module (2) is installed on the slide base plate (9). The Z-axis control cylinder (4) is installed on the slider of the gear and rack slide module (2) through a transverse support frame (11). The Z-axis control cylinder (4) is provided with a Z-axis guide slide (12). The X-axis control cylinder (5) is installed on the piston rod of the Z-axis control cylinder (4) through a connecting block (10). The X-axis control cylinder (5) is provided with an X-axis guide slide (13). A pair of pneumatic grippers (6) are installed on the X-axis control cylinder (5) through the X-axis guide slide (13). Each of the pneumatic grippers (6) has an air blowing head (3) on its cylinder body.

2. The universal truss mechanical gripper according to claim 1, characterized in that... The gear and rack slide module (2) includes a pair of slide rails (15), a rack (16) and a drive motor (17). The pair of slide rails (15) and the rack (16) are mounted in parallel on the slide base plate (9). The rack (16) is located between the pair of slide rails (15). The output shaft of the drive motor (17) is provided with a drive gear that meshes with the rack (16). The drive motor (17) is mounted on the slider of the pair of slide rails (15) through the motor mounting base (18). One end of the transverse support frame (11) is fixed to the motor mounting base (18).

3. A universal truss mechanical gripper according to claim 2, characterized in that... The slide base plate (9) is provided with hard limit blocks (20) at both ends that cooperate with the motor mounting base (18).

4. A universal truss mechanical gripper according to claim 2, characterized in that... A counterweight (22) is provided on the motor mounting base (18) on the side opposite to the transverse support frame (11).

5. A universal truss mechanical gripper according to claim 2, characterized in that... An electrical control cabinet (24) is provided on one side of the motor mounting base (18), and a drag chain groove (23) is provided on one side of the slide base plate (9). A drag chain (25) for bundling circuit lines is provided in the drag chain groove (23).

6. A universal truss mechanical gripper according to claim 1, characterized in that... The slider of the Z-axis guide slide (12) is provided with a slider bracket (26) that is connected to the connecting block (10) at one end.

7. A universal truss mechanical gripper according to claim 1, characterized in that... Each of the cylinders of a pair of pneumatic grippers (6) is provided with an air blowing base plate (28), and the air blowing head (3) is rotatably and adjustablely mounted on the air blowing base plate (28).

8. A universal truss mechanical gripper according to claim 1, characterized in that... The inner side of the pneumatic gripper (6) is detachably connected to a wear-resistant plate (30).

Images